#include "tf_pub.h"
#include <ros/ros.h>
#include <csignal> 

boost::shared_ptr<Tfpub> node_;

void signalHandler(int signum)
{
    //node_->destroy();
    ros::shutdown();
    //exit(signum); 
}

int main(int argc, char** argv)
{
    ros::init(argc, argv, "tf_pub_node");
    ros::NodeHandle nh;

    ROS_INFO("tf_pub start!!!");
    node_.reset(new Tfpub());
    signal(SIGINT,signalHandler);
    node_->init();
    node_->loop();
     
    
    ROS_INFO( "tf_pub stop!!!");
    return 0;
}
